version: 66.07
glider: 542
mission: 9
dive: 302
start: 2 3 115 9 43 35
data:
$ID,542
$MISSION,9
$DIVE,302
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,365
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53031
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00251332
$HD_B,0.0127788
$HD_C,1.44018e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-56
$TGT_DEFAULT_LON,0.1
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22565.107
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2930
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2342
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00079999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-53.02364
$PRESSURE_SLOPE,0.00011816985
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,030215,093335,-5607.720,-26.047,39,0.9,39,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-53.4
$GPS2,030215,094241,-5607.760,-25.889,18,1.1,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5615.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.128,-0.192
$KALMAN_X,329850.6,-837.9,-855.6,-354860.1,7219.0
$KALMAN_Y,-117726.5,113.5,134.9,103409.5,-1332.5
$MHEAD_RNG_PITCHd_Wd,166.3,27998,-17.2,-9.524
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.44,-146.1,0.0,0.0,0,86,0.00,0.00,-65.95,0.000,2,0.000,0.000,46,2934,2238,0,0,0,0,0,0
$GC,89,-0.44,-146.1,3.4,-3.6,8,124,6.62,1.65,-22.77,0.000,4,0.239,0.078,1633,3893,2940,0,0,0,0,0,0
$GC,361,-0.44,-146.1,44.7,-14.5,51,369,0.00,1.55,0.00,0.000,6,0.000,0.031,1633,2889,2941,0,0,0,0,0,0
$GC,474,-0.44,-146.1,62.1,-15.1,70,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2888,2941,0,0,0,0,0,0
$GC,594,-0.44,-146.1,77.7,-12.6,89,601,0.00,1.67,0.00,0.000,4,0.000,0.058,1625,3891,2942,0,0,0,0,0,0
$GC,648,-0.44,-146.1,85.5,-13.8,98,655,0.00,1.48,0.00,0.000,6,0.000,0.031,1625,2920,2942,0,0,0,0,0,0
$GC,878,-0.44,-146.1,118.9,-14.6,127,884,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2919,2942,0,0,0,0,0,0
$GC,1204,-0.44,-146.1,165.6,-13.9,158,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2919,2942,0,0,0,0,0,0
$GC,1522,-0.44,-146.1,210.9,-13.5,188,1526,0.00,2.10,0.00,0.000,4,0.000,0.041,1625,1550,2942,0,0,0,0,0,0
$GC,1544,-0.44,-146.1,214.1,-13.6,189,1552,0.12,2.22,0.00,0.000,6,0.181,0.054,1647,2927,2942,0,0,0,0,0,0
$GC,1869,-0.44,-146.1,247.9,-10.1,220,1873,0.00,1.60,0.00,0.000,4,0.000,0.060,1640,3905,2943,0,0,0,0,0,0
$GC,1902,-0.44,-146.1,251.5,-11.2,222,1906,0.00,1.45,0.00,0.000,6,0.000,0.031,1640,2940,2943,0,0,0,0,0,0
$GC,2223,-0.44,-146.1,286.9,-11.6,238,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2932,2942,0,0,0,0,0,0
$GC,2535,-0.44,-146.1,322.6,-11.8,253,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2933,2942,0,0,0,0,0,0
$GC,2844,-0.44,-146.1,359.6,-12.0,268,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2933,2942,0,0,0,0,0,0
$GC,3155,-0.44,-146.1,396.0,-11.7,283,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2933,2941,0,0,0,0,0,0
$GC,3461,-0.44,-146.1,430.6,-11.0,298,3464,0.00,1.62,0.00,0.000,4,0.000,0.060,1632,3899,2942,0,0,0,0,0,0
$GC,3488,-0.44,-146.1,433.9,-12.5,299,3492,0.00,1.45,0.00,0.000,6,0.000,0.031,1632,2934,2942,0,0,0,0,0,0
$GC,3816,-0.44,-146.1,471.3,-11.5,315,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2927,2941,0,0,0,0,0,0
$GC,4124,-0.44,-146.1,507.5,-11.8,330,4128,0.00,1.62,0.00,0.000,4,0.000,0.060,1624,3897,2941,0,0,0,0,0,0
$GC,4172,-0.44,-146.1,513.3,-12.8,332,4176,0.00,1.45,0.00,0.000,6,0.000,0.031,1624,2936,2941,0,0,0,0,0,0
$GC,4504,-0.44,-146.1,555.3,-12.7,348,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2930,2942,0,0,0,0,0,0
$GC,4814,-0.44,-146.1,593.6,-12.1,363,4817,0.00,1.65,0.00,0.000,4,0.000,0.061,1618,3898,2942,0,0,0,0,0,0
$GC,4860,-0.44,-146.1,599.3,-12.6,365,4864,0.00,1.48,0.00,0.000,6,0.000,0.031,1618,2924,2942,0,0,0,0,0,0
$GC,5192,-0.44,-146.1,640.4,-12.7,381,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2920,2942,0,0,0,0,0,0
$GC,5502,-0.44,-146.1,679.1,-12.9,396,5506,0.00,1.62,0.00,0.000,4,0.000,0.059,1610,3892,2942,0,0,0,0,0,0
$GC,5534,-0.44,-146.1,683.8,-13.3,397,5540,0.10,1.45,0.00,0.000,6,0.165,0.030,1641,2940,2942,0,0,0,0,0,0
$GC,5856,-0.44,-146.1,716.0,-9.6,413,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2938,2942,0,0,0,0,0,0
$GC,6166,-0.44,-146.1,746.1,-9.7,428,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2939,2941,0,0,0,0,0,0
$GC,6475,-0.44,-146.1,776.5,-9.9,443,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2939,2942,0,0,0,0,0,0
$GC,6784,-0.44,-146.1,806.4,-9.4,458,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2939,2942,0,0,0,0,0,0
$GC,7094,-0.44,-146.1,835.1,-8.9,473,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2939,2942,0,0,0,0,0,0
$GC,7403,-0.44,-146.1,861.9,-8.5,488,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2939,2941,0,0,0,0,0,0
$GC,7712,-0.44,-146.1,888.8,-8.9,503,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2939,2941,0,0,0,0,0,0
$GC,8023,-0.44,-146.1,916.0,-8.2,518,8026,0.00,1.62,0.00,0.000,4,0.000,0.060,1634,3899,2942,0,0,0,0,0,0
$GC,8055,-0.44,-146.1,919.0,-9.1,519,8059,0.00,1.50,0.00,0.000,6,0.000,0.031,1634,2927,2941,0,0,0,0,0,0
$GC,8378,-0.44,-146.1,948.0,-8.9,535,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2923,2941,0,0,0,0,0,0
$GC,8687,-0.44,-146.1,976.1,-9.0,550,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2923,2941,0,0,0,0,0,0
$STATE,8952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8953,begin apogee
$GC,8958,-0.13,0.0,1000.4,9.0,563,9100,0.38,0.00,139.77,1.787,6,0.161,0.000,1743,2703,2342,0,0,0,0,0,0
$STATE,9101,end apogee,CONTROL_FINISHED_OK
$STATE,9101,begin climb
$GC,9104,0.44,146.1,1003.6,0.0,570,9263,0.62,2.45,150.73,1.745,4,0.119,0.041,1932,1345,1745,0,0,0,0,0,0
$GC,9279,0.44,146.1,989.5,11.3,578,9284,0.00,2.45,0.00,0.000,6,0.000,0.048,1932,2721,1743,0,0,0,0,0,0
$GC,9595,0.44,146.1,949.5,12.6,593,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2721,1736,0,0,0,0,0,0
$GC,9904,0.44,146.1,910.4,12.6,608,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2721,1735,0,0,0,0,0,0
$GC,10214,0.44,146.1,872.6,12.1,623,10218,0.00,1.95,0.00,0.000,4,0.000,0.060,1932,3894,1734,0,0,0,0,0,0
$GC,10241,0.44,146.1,868.8,13.7,624,10245,0.00,1.83,0.00,0.000,6,0.000,0.032,1941,2748,1732,0,0,0,0,0,0
$GC,10569,0.44,146.1,826.8,12.7,640,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2747,1733,0,0,0,0,0,0
$GC,10879,0.44,146.1,787.8,12.5,655,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2747,1733,0,0,0,0,0,0
$GC,11187,0.44,146.1,749.0,12.5,670,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2747,1732,0,0,0,0,0,0
$GC,11497,0.44,146.1,710.6,12.2,685,11499,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2747,1732,0,0,0,0,0,0
$GC,11806,0.44,146.1,671.2,12.8,700,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2747,1732,0,0,0,0,0,0
$GC,12115,0.44,146.1,632.0,12.7,715,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2747,1732,0,0,0,0,0,0
$GC,12425,0.44,146.1,591.8,13.0,730,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2747,1731,0,0,0,0,0,0
$GC,12734,0.44,146.1,551.3,13.3,745,12735,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2746,1731,0,0,0,0,0,0
$GC,13043,0.44,146.1,512.3,12.4,760,13044,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2747,1731,0,0,0,0,0,0
$GC,13353,0.44,146.1,474.5,12.0,775,13355,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2747,1731,0,0,0,0,0,0
$GC,13662,0.44,146.1,437.7,11.7,790,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2746,1731,0,0,0,0,0,0
$GC,13971,0.44,146.1,403.4,10.9,805,13972,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2747,1731,0,0,0,0,0,0
$GC,14281,0.44,146.1,369.6,11.0,820,14285,0.00,1.90,0.00,0.000,4,0.000,0.057,1941,3889,1731,0,0,0,0,0,0
$GC,14306,0.44,146.1,366.8,10.9,821,14310,0.00,1.83,0.00,0.000,6,0.000,0.034,1950,2711,1730,0,0,0,0,0,0
$GC,14641,0.44,146.1,326.0,12.4,837,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2710,1730,0,0,0,0,0,0
$GC,14951,0.44,146.1,289.7,11.4,852,14954,0.00,1.95,0.00,0.000,4,0.000,0.057,1950,3891,1730,0,0,0,0,0,0
$GC,14966,0.44,146.1,287.3,11.7,852,14976,0.00,1.88,0.00,0.000,6,0.000,0.033,1959,2709,1729,0,0,0,0,0,0
$GC,15284,0.44,146.1,250.4,11.5,868,15285,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2709,1729,0,0,0,0,0,0
$GC,15605,0.44,146.1,215.4,10.6,897,15611,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2709,1729,0,0,0,0,0,0
$GC,15930,0.44,146.1,180.7,10.0,928,15934,0.00,1.98,0.00,0.000,4,0.000,0.057,1959,3884,1729,0,0,0,0,0,0
$GC,15958,0.44,146.1,177.5,11.0,930,15968,0.10,1.88,0.00,0.000,6,0.193,0.035,1941,2709,1729,0,0,0,0,0,0
$GC,16285,0.49,202.3,151.9,7.1,961,16339,0.00,2.28,47.92,1.286,4,0.000,0.043,1950,1298,1519,0,0,0,0,0,0
$GC,16369,0.54,271.7,146.2,6.5,967,16428,0.00,2.33,51.67,1.252,6,0.000,0.049,1950,2715,1234,0,0,0,0,0,0
$GC,16757,0.55,283.4,112.1,9.0,1003,16770,0.00,2.35,6.75,1.003,4,0.000,0.043,1960,1293,1185,0,0,0,0,0,0
$GC,16795,0.57,306.4,108.5,8.5,1006,16821,0.00,2.33,15.73,1.079,6,0.000,0.050,1960,2721,1095,0,0,0,0,0,0
$GC,17160,0.57,306.4,71.1,10.9,1062,17169,0.00,2.30,0.00,0.000,4,0.000,0.044,1970,1292,1087,0,0,0,0,0,0
$GC,17199,0.57,310.3,67.3,9.4,1068,17209,0.00,2.33,1.98,0.292,6,0.000,0.050,1970,2713,1076,0,0,0,0,0,0
$GC,17317,0.57,310.3,54.3,11.8,1087,17324,0.00,1.92,0.00,0.000,4,0.000,0.058,1970,3891,1075,0,0,0,0,0,0
$GC,17344,0.57,310.3,50.8,12.5,1091,17351,0.00,1.90,0.00,0.000,6,0.000,0.037,1978,2715,1075,0,0,0,0,0,0
$GC,17458,0.57,310.3,36.5,12.9,1110,17467,0.00,2.25,0.00,0.000,4,0.000,0.044,1988,1294,1075,0,0,0,0,0,0
$GC,17486,0.57,310.3,33.5,10.6,1114,17495,0.00,2.33,0.00,0.000,6,0.000,0.051,1989,2716,1074,0,0,0,0,0,0
$GC,17606,0.57,310.3,17.6,13.4,1133,17615,0.00,1.95,0.00,0.000,4,0.000,0.060,1988,3889,1074,0,0,0,0,0,0
$GC,17624,0.57,310.3,14.5,15.3,1135,17633,0.00,1.90,0.00,0.000,6,0.000,0.037,1997,2709,1074,0,0,0,0,0,0
$STATE,17696,end climb,SURFACE_DEPTH_REACHED
$STATE,17696,begin surface coast
$FINISH,1.3,1.027020
$STATE,17722,end surface coast,CONTROL_FINISHED_OK
$STATE,17723,begin surface
$SM_CCo,17796,0.00,0.000,0,0,1070,312.02
$SM_GC,1.94,5.30,0.00,0.00,0.061,0.000,0.000,64,2918,1070,-5.32,-0.34,312.02
$IRIDIUM_FIX,-5542.76,-26.98,030215,040411
$TT8_MAMPS,0.026215
$HUMID,57.83
$INTERNAL_PRESSURE,8.94533
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,21.3,59.321
$10V_AH,9.8,41.349
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.250,76.075,414.550,0.000,0.000,28.106,41.774,328.467,0.000,0.000,21.411,2772.169,11703.000,489.658,3078.568,289.507,33.370,1540.808,0.000,2498.892,0.000,0.539,0.000
$DEVICE_MAMPS,239.445,79.560,1787.040,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.198,2367.178,1111.968,1130.075,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,80420,1150
$CAP_FILE_SIZE,138872,0
$CFSIZE,259252224,205160448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,030215,144122,-5610.643,-22.946,36,0.8,37,-19.9